From f3928da22d8635fdda6461a2a817e6cae825beb3 Mon Sep 17 00:00:00 2001
From: NikolajDanger <nikolajgade@live.dk>
Date: Wed, 7 Sep 2022 13:46:37 +0200
Subject: [PATCH] :sparkles:

---
 square.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/square.py b/square.py
index 324c0d9..950eec3 100644
--- a/square.py
+++ b/square.py
@@ -11,6 +11,11 @@ RIGHT_WHEEL_OFFSET = 4
 CLOCKWISE_OFFSET = 0.96
 
 def clockwise_square(arlo):
+    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
+    sleep(TURN_T * 0.5)
+    arlo.stop()
+    sleep(0.5)
+
     for _ in range(4):
         # Driving forward
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
@@ -21,8 +26,13 @@ def clockwise_square(arlo):
 
         # Turning 90 degrees
         arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
-        sleep(TURN_T * 9 * CLOCKWISE_OFFSET)
+        sleep(TURN_T * 10 * CLOCKWISE_OFFSET)
         arlo.stop()
+        sleep(0.2)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+        sleep(TURN_T)
+        arlo.stop()
+
 
         sleep(1)
 
@@ -30,6 +40,7 @@ def counter_square(arlo):
     arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
     sleep(TURN_T * 0.5)
     arlo.stop()
+    sleep(0.5)
 
     for _ in range(4):
         # Driving forward